
where \(e\)  is the perpendicular distance to the lane edge (m), and \(e_\theta \)  is the angle between the tangent to the straight section of the road and the projection of the vehicle's longitudinal axis (rad). Let \(x = [e,\dot{e}, e_\theta , \dot{e}_\theta ]^\top \)  denote the plant state. The control \(u\)  is the steering angle of the front wheel (rad). The plant output is \(y = [e, \ e_\theta ]^\top \) . The disturbance \(c\)  is the road curvature (\(1/\) m). In this task, we consider a constant curvature \(c \equiv 0\) . The values for the rest of the parameters are given in [1]}. The controller is synthesized for the discretized dynamics with the sampling time \(\delta =0.02\)  s.
